CN-116592909-B - Automatic calibration method for sensor of carrier-borne unmanned aerial vehicle and unmanned aerial vehicle

CN116592909BCN 116592909 BCN116592909 BCN 116592909BCN-116592909-B

Abstract

The invention discloses an automatic calibration method of a ship-borne unmanned aerial vehicle sensor and an unmanned aerial vehicle, wherein the method comprises the steps of receiving a pitch angle and a roll angle of a ship sent by a ship angular velocity sensor on a calibration platform; the method comprises the steps of obtaining a posture calibration result of the unmanned aerial vehicle through calculation of a pitch angle and a roll angle of a ship angular velocity sensor, sending the posture calibration result to a calibration platform actuator for adjusting the posture of the unmanned aerial vehicle, receiving the advancing speed and the vertical speed of the ship sent by the ship freedom degree velocity sensor on a calibration platform, obtaining a speed calibration result of the unmanned aerial vehicle through calculation of the advancing speed and the vertical speed sent by the ship freedom degree velocity sensor, and sending the speed calibration result to an onboard sensor of the unmanned aerial vehicle for calibrating the onboard sensor value of the unmanned aerial vehicle. According to the invention, the gesture and the sensor data of the unmanned aerial vehicle on the vessel moving platform can be effectively calibrated, and the accuracy of the sensor data of the unmanned aerial vehicle on the vessel moving platform is greatly improved.

Inventors

ZHAO SHULONG
WANG XIANGKE
ZHENG JIAYI
XI YEXUN
WANG QIPENG
YI FENG
CHEN HAO
LV FEI

Assignees

中国人民解放军国防科技大学

Dates

Publication Date: 20260512
Application Date: 20230116

Claims (8)

1. The automatic calibration method for the carrier-based unmanned aerial vehicle sensor is characterized by comprising the following steps of: Receiving a pitch angle and a roll angle of a ship sent by a ship angular velocity sensor on a calibration platform; calculating a posture calibration result of the unmanned aerial vehicle through a pitch angle and a roll angle of the ship angular velocity sensor, and sending the posture calibration result to a calibration platform actuator for adjusting the posture of the unmanned aerial vehicle; Receiving the advancing speed and the vertical speed of the ship sent by the ship freedom degree speed sensor on the calibration platform; The speed calibration result of the unmanned aerial vehicle is obtained through calculation of the forward speed and the vertical speed sent by the ship freedom speed sensor, the speed calibration result is sent to an airborne sensor of the unmanned aerial vehicle to calibrate the value of the airborne sensor of the unmanned aerial vehicle, and the speed calibration result of the unmanned aerial vehicle is obtained through calculation of the forward speed and the vertical speed sent by the ship freedom speed sensor, and comprises reference acceleration output of the unmanned aerial vehicle obtained through calculation of the forward speed and the vertical speed sent by the ship freedom speed sensor, and speed calibration result of an accelerometer in the airborne sensor of the unmanned aerial vehicle is obtained through calculation of the reference acceleration output and six-face calibration method; The calculation of the forward speed and the vertical speed sent by the ship freedom speed sensor to obtain the reference acceleration output of the unmanned aerial vehicle comprises the following steps: Wherein, the Representing the reference acceleration output of the accelerometer, The rotation matrix comprising rotation and scaling is represented, Raw data representing on-board sensors of the drone, Representing the forward speed or vertical speed of the carrier-based platform.
2. The method for automatically calibrating the sensor of the unmanned aerial vehicle according to claim 1, wherein the calculation of the speed calibration result of the accelerometer in the sensor of the unmanned aerial vehicle through the reference acceleration output and six-sided calibration method comprises: pointing the unmanned aerial vehicle head to an X axis serving as a reference, selecting at least two first data acquisition points in the axis direction of the X axis, respectively acquiring accelerometer first data of preset times by each first data acquisition point, and averaging to obtain accelerometer X axis data of each first data acquisition point; Taking the vertical axis of the plane where the unmanned plane is placed as a Z axis of a reference, selecting at least two second data acquisition points in the axis direction of the Z axis, respectively acquiring accelerometer second data of preset times by each second data acquisition point, and averaging to obtain accelerometer Z axis data of each second data acquisition point; Taking an axis orthogonal to the X axis and the Z axis as a Y axis of a reference according to a right hand rule, selecting at least two third data acquisition points in the axis direction of the Y axis, respectively acquiring third data of the accelerometer for preset times by each third data acquisition point, and averaging to obtain the Y axis data of the accelerometer of each third data acquisition point; And calculating according to the accelerometer X-axis data, the accelerometer Z-axis data, the accelerometer Y-axis data and the reference acceleration output to obtain a speed calibration result of the accelerometer in the airborne sensor of the unmanned aerial vehicle.
3. The method of claim 1, wherein after the sending the speed calibration result to the onboard sensor of the drone for calibrating the onboard sensor value of the drone, the method of further comprises: collecting and averaging static gyroscope data of each axial direction to obtain calibrated gyroscope data; and compensating the gyroscope in the airborne sensor of the unmanned aerial vehicle by taking the calibration gyroscope data as a zero offset value.
4. The method for automatically calibrating a sensor of a carrier-based unmanned aerial vehicle according to claim 1, wherein after the speed calibration result is transmitted to the on-board sensor of the unmanned aerial vehicle to calibrate the value of the on-board sensor of the unmanned aerial vehicle, the method for automatically calibrating the sensor of the carrier-based unmanned aerial vehicle further comprises: And calibrating the GPS in the airborne sensor of the unmanned aerial vehicle in a standing mode through the number of at least 7 satellites.
5. The utility model provides a carrier-borne unmanned aerial vehicle sensor automatic calibration system which characterized in that, carrier-borne unmanned aerial vehicle sensor automatic calibration system includes: The calibration platform is horizontally arranged on the ship platform; The ship freedom degree speed sensor is arranged on the calibration platform and used for acquiring the advancing speed and the vertical speed of the ship; The system comprises a calibration platform, a ship angular velocity sensor, a sensor and a sensor, wherein the ship angular velocity sensor is arranged on the calibration platform and is used for acquiring a pitch angle and a roll angle of a ship; The system comprises a calibration platform, a processor, a speed calibration result, a reference acceleration output and a six-sided calibration method, wherein the calibration platform is used for receiving a pitch angle and a roll angle of a ship sent by a ship angular speed sensor, calculating an attitude calibration result of the unmanned aerial vehicle, receiving a forward speed and a vertical speed of the ship sent by a ship freedom degree speed sensor and calculating a speed calibration result of the unmanned aerial vehicle; the calculation of the forward speed and the vertical speed to obtain the reference acceleration output of the unmanned aerial vehicle comprises the following steps: Wherein, the Representing the reference acceleration output of the accelerometer, The rotation matrix comprising rotation and scaling is represented, Raw data representing on-board sensors of the drone, Representing forward speed or vertical speed of a carrier-based platform The system comprises a calibration platform actuator, a processor, a calibration platform, a control unit and a control unit, wherein the bottom of the calibration platform actuator is connected with the calibration platform, and an unmanned aerial vehicle is placed at the top of the calibration platform actuator; The unmanned aerial vehicle comprises an airborne sensor, wherein the airborne sensor is used for receiving a speed calibration result of the unmanned aerial vehicle and calibrating the speed calibration result.
6. The automatic calibration system of the ship-borne unmanned aerial vehicle sensor according to claim 5, wherein the calibration platform actuator comprises a steering engine and a connecting rod structure, wherein the steering engine is connected with the connecting rod structure, and the connecting rod structure is connected with the bottom of the unmanned aerial vehicle.
7. The system of claim 5, wherein the unmanned aerial vehicle's onboard sensors include a magnetic compass, GPS, gyroscope, and accelerometer.
8. An unmanned aerial vehicle, wherein the unmanned aerial vehicle is used for executing the carrier-borne unmanned aerial vehicle sensor automatic calibration method according to any one of claims 1 to 4.

Description

Automatic calibration method for sensor of carrier-borne unmanned aerial vehicle and unmanned aerial vehicle Technical Field The invention relates to the technical field of unmanned aerial vehicle calibration, in particular to an automatic calibration method for a sensor of a carrier-based unmanned aerial vehicle and the unmanned aerial vehicle. Background The calibration of the carrier-borne unmanned aerial vehicle-borne sensor is greatly different from that of a land unmanned aerial vehicle. The calibration of the sensor is achieved mainly on land depending on the relatively accurate gravitational acceleration. The ship is a movable platform, the numerical value of the gravity acceleration is changed in real time due to the change of the gesture and the speed, and the conventional calibration method cannot be applied. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the carrier-borne unmanned aerial vehicle sensor automatic calibration method and the unmanned aerial vehicle, which can compensate the measurement data of the unmanned aerial vehicle's on-board sensor on a carrier moving platform through the automatic calibration of the unmanned aerial vehicle's on-board sensor, so that the data of the unmanned aerial vehicle's on-board sensor has higher robustness and reality. In a first aspect, an embodiment of the present invention provides an automatic calibration method for a carrier-borne unmanned aerial vehicle sensor, where the automatic calibration method for the carrier-borne unmanned aerial vehicle sensor includes: Receiving a pitch angle and a roll angle of a ship sent by a ship angular velocity sensor on a calibration platform; calculating a posture calibration result of the unmanned aerial vehicle through a pitch angle and a roll angle of the ship angular velocity sensor, and sending the posture calibration result to a calibration platform actuator for adjusting the posture of the unmanned aerial vehicle; Receiving the advancing speed and the vertical speed of the ship sent by the ship freedom degree speed sensor on the calibration platform; and calculating and obtaining a speed calibration result of the unmanned aerial vehicle through the forward speed and the vertical speed sent by the ship freedom speed sensor, and sending the speed calibration result to an airborne sensor of the unmanned aerial vehicle so as to calibrate the value of the airborne sensor of the unmanned aerial vehicle. The method according to the embodiment of the invention has at least the following beneficial effects: Firstly, acquiring pitch angle and roll angle of a ship through a ship angular velocity sensor, providing calculation data for motion gesture of the ship, then inputting the pitch angle and the roll angle into a calibration platform actuator for gesture calibration of the unmanned aerial vehicle, so that the gesture of the unmanned aerial vehicle on a ship moving platform is effectively calibrated, the influence of the movement of the ship on the unmanned aerial vehicle sensor is counteracted, and secondly, the forward speed and vertical speed of the ship are transmitted through a ship freedom degree speed sensor, so that comprehensive calculation data can be provided for the speed of the ship, and the calibration accuracy can be greatly improved; and then inputting the advancing speed and the vertical speed into a calibration platform actuator to calibrate the numerical value of the unmanned aerial vehicle's airborne sensor, so that the attitude and sensor data of the unmanned aerial vehicle on the vessel moving platform are effectively calibrated, the influence of the vessel motion on the unmanned aerial vehicle sensor is counteracted, the implementation is simple and easy, and the calibration accuracy of the unmanned aerial vehicle's airborne sensor is effectively improved. According to some embodiments of the present invention, the calculation of the forward speed and the vertical speed sent by the ship degree of freedom speed sensor to obtain the speed calibration result of the unmanned aerial vehicle includes: calculating the forward speed and the vertical speed sent by the ship freedom degree speed sensor to obtain the reference acceleration output of the unmanned aerial vehicle; And calculating to obtain a speed calibration result of the accelerometer in the airborne sensor of the unmanned aerial vehicle through the reference acceleration output and a six-sided calibration method. According to some embodiments of the invention, the calculating the reference acceleration output of the unmanned aerial vehicle by the forward speed and the vertical speed sent by the ship freedom speed sensor includes: accc＝accT*(accraw-accoff) Wherein acc c represents the reference acceleration output of the accelerometer, acc T represents a rotation matrix comprising rotation and scaling, acc raw represents the r